--- /dev/null
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+/** \file
+ * \brief
+ * EtherCAT RAW socket driver.
+ *
+ * Low level interface functions to send and receive EtherCAT packets.
+ * EtherCAT has the property that packets are only send by the master,
+ * and the send packets always return in the receive buffer.
+ * There can be multiple packets "on the wire" before they return.
+ * To combine the received packets with the original send packets a buffer
+ * system is installed. The identifier is put in the index item of the
+ * EtherCAT header. The index is stored and compared when a frame is received.
+ * If there is a match the packet can be combined with the transmit packet
+ * and returned to the higher level function.
+ *
+ * The socket layer can exhibit a reversal in the packet order (rare).
+ * If the Tx order is A-B-C the return order could be A-C-B. The indexed buffer
+ * will reorder the packets automatically.
+ *
+ * The "redundant" option will configure two sockets and two NIC interfaces.
+ * Slaves are connected to both interfaces, one on the IN port and one on the
+ * OUT port. Packets are send via both interfaces. Any one of the connections
+ * (also an interconnect) can be removed and the slaves are still serviced with
+ * packets. The software layer will detect the possible failure modes and
+ * compensate. If needed the packets from interface A are resent through interface B.
+ * This layer if fully transparent for the higher layers.
+ */
+
+#include <sys/time.h>
+#include <time.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <string.h>
+#include <assert.h>
+
+#include "oshw.h"
+#include "osal.h"
+#include "nicdrv.h"
+#include "ee.h"
+#include "intel_i210.h"
+#include "ee_x86_64_tsc.h"
+
+/** Redundancy modes */
+enum
+{
+ /** No redundancy, single NIC mode */
+ ECT_RED_NONE,
+ /** Double redundant NIC connection */
+ ECT_RED_DOUBLE
+};
+
+
+/** Primary source MAC address used for EtherCAT.
+ * This address is not the MAC address used from the NIC.
+ * EtherCAT does not care about MAC addressing, but it is used here to
+ * differentiate the route the packet traverses through the EtherCAT
+ * segment. This is needed to find out the packet flow in redundant
+ * configurations. */
+const uint16 priMAC[3] = { 0x0201, 0x0101, 0x0101 };
+/** Secondary source MAC address used for EtherCAT. */
+const uint16 secMAC[3] = { 0x0604, 0x0404, 0x0404 };
+
+/** second MAC word is used for identification */
+#define RX_PRIM priMAC[1]
+/** second MAC word is used for identification */
+#define RX_SEC secMAC[1]
+
+void ee_port_lock(void);
+void ee_port_unlock(void);
+
+static inline void ecx_clear_rxbufstat(int *rxbufstat)
+{
+ int i;
+ for(i = 0; i < EC_MAXBUF; i++)
+ rxbufstat[i] = EC_BUF_EMPTY;
+}
+
+/** Basic setup to connect NIC to socket.
+ * @param[in] port = port context struct
+ * @param[in] ifname = Name of NIC device, f.e. "eth0"
+ * @param[in] secondary = if >0 then use secondary stack instead of primary
+ * @return >0 if succeeded
+ */
+int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
+{
+ int d;
+ struct eth_device *dev;
+ OSEE_PRINT("ecx_setupnic() searching %s...\n", ifname);
+
+ for (d = 0;; ++d) {
+ dev = eth_get_device(d);
+
+ if (dev == NULL)
+ break; // ERROR: device not found
+
+ if (!strncmp(dev->name, ifname, MAX_DEVICE_NAME)){
+ // Device found
+ int i;
+
+ eth_setup_device(d, 1, 100);
+ port->dev_id = d;
+
+ port->sockhandle = -1;
+ port->lastidx = 0;
+ port->redstate = ECT_RED_NONE;
+ port->stack.sock = &(port->sockhandle);
+ port->stack.txbuf = &(port->txbuf);
+ port->stack.txbuflength = &(port->txbuflength);
+ port->stack.tempbuf = &(port->tempinbuf);
+ port->stack.rxbuf = &(port->rxbuf);
+ port->stack.rxbufstat = &(port->rxbufstat);
+ port->stack.rxsa = &(port->rxsa);
+ ecx_clear_rxbufstat(&(port->rxbufstat[0]));
+
+ /* setup ethernet headers in tx buffers so we don't have to repeat it */
+ for (i = 0; i < EC_MAXBUF; i++)
+ {
+ ec_setupheader(&(port->txbuf[i]));
+ port->rxbufstat[i] = EC_BUF_EMPTY;
+ }
+ ec_setupheader(&(port->txbuf2));
+
+ break; // device found
+ }
+ }
+
+ return (dev != NULL);
+}
+
+/** Close sockets used
+ * @param[in] port = port context struct
+ * @return 0
+ */
+inline int ecx_closenic(ecx_portt *port)
+{
+ // Nothing to do
+ return 0;
+}
+
+/** Fill buffer with ethernet header structure.
+ * Destination MAC is always broadcast.
+ * Ethertype is always ETH_P_ECAT.
+ * @param[out] p = buffer
+ */
+void ec_setupheader(void *p)
+{
+ ec_etherheadert *bp;
+ bp = p;
+ bp->da0 = oshw_htons(0xffff);
+ bp->da1 = oshw_htons(0xffff);
+ bp->da2 = oshw_htons(0xffff);
+ bp->sa0 = oshw_htons(priMAC[0]);
+ bp->sa1 = oshw_htons(priMAC[1]);
+ bp->sa2 = oshw_htons(priMAC[2]);
+ bp->etype = oshw_htons(ETH_P_ECAT);
+}
+
+/** Get new frame identifier index and allocate corresponding rx buffer.
+ * @param[in] port = port context struct
+ * @return new index.
+ */
+int ecx_getindex(ecx_portt *port)
+{
+ int idx;
+ int cnt = 0;
+
+ ee_port_lock();
+
+ idx = port->lastidx + 1;
+ /* index can't be larger than buffer array */
+ if (idx >= EC_MAXBUF)
+ idx = 0;
+
+ /* try to find unused index */
+ while ((port->rxbufstat[idx] != EC_BUF_EMPTY) && (cnt < EC_MAXBUF)) {
+ idx++;
+ cnt++;
+ if (idx >= EC_MAXBUF)
+ idx = 0;
+ }
+ port->rxbufstat[idx] = EC_BUF_ALLOC;
+ if (port->redstate != ECT_RED_NONE)
+ port->redport->rxbufstat[idx] = EC_BUF_ALLOC;
+ port->lastidx = idx;
+
+ ee_port_unlock();
+
+ return idx;
+}
+
+/** Set rx buffer status.
+ * @param[in] port = port context struct
+ * @param[in] idx = index in buffer array
+ * @param[in] bufstat = status to set
+ */
+void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
+{
+ port->rxbufstat[idx] = bufstat;
+ if (port->redstate != ECT_RED_NONE)
+ port->redport->rxbufstat[idx] = bufstat;
+}
+
+/** Transmit buffer over socket (non blocking).
+ * @param[in] port = port context struct
+ * @param[in] idx = index in tx buffer array
+ * @param[in] stacknumber = 0=Primary 1=Secondary stack
+ * @return socket send result
+ */
+int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
+{
+ int lp;
+ ec_stackT *stack;
+
+ if (!stacknumber)
+ stack = &(port->stack);
+ else
+ stack = &(port->redport->stack);
+ lp = (*stack->txbuflength)[idx];
+ (*stack->rxbufstat)[idx] = EC_BUF_TX;
+
+ eth_send_packet(port->dev_id, (*stack->txbuf)[idx], lp, 1);
+
+ return 1;
+}
+
+/** Transmit buffer over socket (non blocking).
+ * @param[in] port = port context struct
+ * @param[in] idx = index in tx buffer array
+ * @return socket send result
+ */
+int ecx_outframe_red(ecx_portt *port, int idx)
+{
+ ec_comt *datagramP;
+ ec_etherheadert *ehp;
+ int rval;
+
+ ehp = (ec_etherheadert *)&(port->txbuf[idx]);
+ /* rewrite MAC source address 1 to primary */
+ ehp->sa1 = oshw_htons(priMAC[1]);
+ /* transmit over primary socket*/
+ rval = ecx_outframe(port, idx, 0);
+ if (port->redstate != ECT_RED_NONE) {
+ ee_port_lock();
+ ehp = (ec_etherheadert *)&(port->txbuf2);
+ /* use dummy frame for secondary socket transmit (BRD) */
+ datagramP = (ec_comt*)&(port->txbuf2[ETH_HEADERSIZE]);
+ /* write index to frame */
+ datagramP->index = idx;
+ /* rewrite MAC source address 1 to secondary */
+ ehp->sa1 = oshw_htons(secMAC[1]);
+ /* transmit over secondary socket */
+ port->redport->rxbufstat[idx] = EC_BUF_TX;
+ eth_send_packet(port->dev_id, &(port->txbuf2), port->txbuflength2, 1);
+ ee_port_unlock();
+ }
+
+ return rval;
+}
+
+/** Non blocking read of socket. Put frame in temporary buffer.
+ * @param[in] port = port context struct
+ * @param[in] stacknumber = 0=primary 1=secondary stack
+ * @return >0 if frame is available and read
+ */
+static int ecx_recvpkt(ecx_portt *port, int stacknumber)
+{
+ int lp, bytesrx;
+ ec_stackT *stack;
+
+ if (!stacknumber)
+ stack = &(port->stack);
+ else
+ stack = &(port->redport->stack);
+ lp = sizeof(port->tempinbuf);
+ bytesrx = eth_receive_packet(port->dev_id, (*stack->tempbuf), lp, 1, 0);
+ port->tempinbufs = bytesrx;
+
+ return (bytesrx > 0);
+}
+
+/** Non blocking receive frame function. Uses RX buffer and index to combine
+ * read frame with transmitted frame. To compensate for received frames that
+ * are out-of-order all frames are stored in their respective indexed buffer.
+ * If a frame was placed in the buffer previously, the function retrieves it
+ * from that buffer index without calling ec_recvpkt. If the requested index
+ * is not already in the buffer it calls ec_recvpkt to fetch it. There are
+ * three options now, 1 no frame read, so exit. 2 frame read but other
+ * than requested index, store in buffer and exit. 3 frame read with matching
+ * index, store in buffer, set completed flag in buffer status and exit.
+ *
+ * @param[in] port = port context struct
+ * @param[in] idx = requested index of frame
+ * @param[in] stacknumber = 0=primary 1=secondary stack
+ * @return Workcounter if a frame is found with corresponding index, otherwise
+ * EC_NOFRAME or EC_OTHERFRAME.
+ */
+int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
+{
+ uint16 l;
+ int rval;
+ int idxf;
+ ec_etherheadert *ehp;
+ ec_comt *ecp;
+ ec_stackT *stack;
+ ec_bufT *rxbuf;
+
+ if (!stacknumber)
+ stack = &(port->stack);
+ else
+ stack = &(port->redport->stack);
+ rval = EC_NOFRAME;
+ rxbuf = &(*stack->rxbuf)[idx];
+ /* check if requested index is already in buffer ? */
+ if ((idx < EC_MAXBUF) && ((*stack->rxbufstat)[idx] == EC_BUF_RCVD)) {
+ l = (*rxbuf)[0] + ((uint16)((*rxbuf)[1] & 0x0f) << 8);
+ /* return WKC */
+ rval = ((*rxbuf)[l] + ((uint16)(*rxbuf)[l + 1] << 8));
+ /* mark as completed */
+ (*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;
+ } else {
+ ee_port_lock();
+ /* non blocking call to retrieve frame from socket */
+
+
+ while (1) {
+ if (ecx_recvpkt(port, stacknumber)) {
+ rval = EC_OTHERFRAME;
+ ehp =(ec_etherheadert*)(stack->tempbuf);
+ /* check if it is an EtherCAT frame */
+ if (ehp->etype == oshw_htons(ETH_P_ECAT)) {
+ ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
+ l = etohs(ecp->elength) & 0x0fff;
+ idxf = ecp->index;
+ /* found index equals requested index ? */
+ if (idxf == idx) {
+ /* yes, put it in the buffer array (strip ethernet header) */
+ memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idx] - ETH_HEADERSIZE);
+ /* return WKC */
+ rval = ((*rxbuf)[l] + ((uint16)((*rxbuf)[l + 1]) << 8));
+ /* mark as completed */
+ (*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;
+ /* store MAC source word 1 for redundant routing info */
+ (*stack->rxsa)[idx] = oshw_ntohs(ehp->sa1);
+ break;
+ } else if (idxf < EC_MAXBUF && (*stack->rxbufstat)[idxf] == EC_BUF_TX) {
+ rxbuf = &(*stack->rxbuf)[idxf];
+ /* put it in the buffer array (strip ethernet header) */
+ memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idxf] - ETH_HEADERSIZE);
+ /* mark as received */
+ (*stack->rxbufstat)[idxf] = EC_BUF_RCVD;
+ (*stack->rxsa)[idxf] = oshw_ntohs(ehp->sa1);
+ break;
+ } else {
+ OSEE_PRINT("ecx_inframe(): WARNING: strange things happened\n");
+ /* strange things happened */
+ }
+ } else {
+ OSEE_PRINT("ecx_inframe(): WARNING it is NOT an EtherCAT frame!\n");
+ }
+ } else {
+ // WARNING: no messages received.
+ break;
+ }
+ }
+
+ ee_port_unlock();
+
+ }
+
+ /* WKC if matching frame found */
+ return rval;
+}
+
+/** Blocking redundant receive frame function. If redundant mode is not active then
+ * it skips the secondary stack and redundancy functions. In redundant mode it waits
+ * for both (primary and secondary) frames to come in. The result goes in an decision
+ * tree that decides, depending on the route of the packet and its possible missing arrival,
+ * how to reroute the original packet to get the data in an other try.
+ *
+ * @param[in] port = port context struct
+ * @param[in] idx = requested index of frame
+ * @param[in] timer = absolute timeout time
+ * @return Workcounter if a frame is found with corresponding index, otherwise
+ * EC_NOFRAME.
+ */
+static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
+{
+ osal_timert timer2;
+ int wkc = EC_NOFRAME;
+ int wkc2 = EC_NOFRAME;
+ int primrx, secrx;
+
+ /* if not in redundant mode then always assume secondary is OK */
+ if (port->redstate == ECT_RED_NONE)
+ wkc2 = 0;
+ do {
+ /* only read frame if not already in */
+ if (wkc <= EC_NOFRAME)
+ wkc = ecx_inframe(port, idx, 0);
+ /* only try secondary if in redundant mode */
+ if (port->redstate != ECT_RED_NONE) {
+ /* only read frame if not already in */
+ if (wkc2 <= EC_NOFRAME)
+ wkc2 = ecx_inframe(port, idx, 1);
+ }
+ /* wait for both frames to arrive or timeout */
+ } while (((wkc <= EC_NOFRAME) || (wkc2 <= EC_NOFRAME)) && !osal_timer_is_expired(timer));
+ /* only do redundant functions when in redundant mode */
+ if (port->redstate != ECT_RED_NONE) {
+ /* primrx if the received MAC source on primary socket */
+ primrx = 0;
+ if (wkc > EC_NOFRAME) primrx = port->rxsa[idx];
+ /* secrx if the received MAC source on psecondary socket */
+ secrx = 0;
+ if (wkc2 > EC_NOFRAME) secrx = port->redport->rxsa[idx];
+
+ /* primary socket got secondary frame and secondary socket got primary frame */
+ /* normal situation in redundant mode */
+ if ( ((primrx == RX_SEC) && (secrx == RX_PRIM)) ) {
+ /* copy secondary buffer to primary */
+ memcpy(&(port->rxbuf[idx]), &(port->redport->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
+ wkc = wkc2;
+ }
+ /* primary socket got nothing or primary frame, and secondary socket got secondary frame */
+ /* we need to resend TX packet */
+ if ( ((primrx == 0) && (secrx == RX_SEC)) ||
+ ((primrx == RX_PRIM) && (secrx == RX_SEC)) ) {
+ /* If both primary and secondary have partial connection retransmit the primary received
+ * frame over the secondary socket. The result from the secondary received frame is a combined
+ * frame that traversed all slaves in standard order. */
+ if ( (primrx == RX_PRIM) && (secrx == RX_SEC) ) {
+ /* copy primary rx to tx buffer */
+ memcpy(&(port->txbuf[idx][ETH_HEADERSIZE]), &(port->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
+ }
+ osal_timer_start (&timer2, EC_TIMEOUTRET);
+ /* resend secondary tx */
+ ecx_outframe(port, idx, 1);
+ do {
+ /* retrieve frame */
+ wkc2 = ecx_inframe(port, idx, 1);
+ } while ((wkc2 <= EC_NOFRAME) && !osal_timer_is_expired(&timer2));
+ if (wkc2 > EC_NOFRAME) {
+ /* copy secondary result to primary rx buffer */
+ memcpy(&(port->rxbuf[idx]), &(port->redport->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
+ wkc = wkc2;
+ }
+ }
+ }
+
+ /* return WKC or EC_NOFRAME */
+ return wkc;
+}
+
+/** Blocking receive frame function. Calls ec_waitinframe_red().
+ * @param[in] port = port context struct
+ * @param[in] idx = requested index of frame
+ * @param[in] timeout = timeout in us
+ * @return Workcounter if a frame is found with corresponding index, otherwise
+ * EC_NOFRAME.
+ */
+int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
+{
+ int wkc;
+ osal_timert timer;
+
+ osal_timer_start (&timer, timeout);
+ wkc = ecx_waitinframe_red(port, idx, &timer);
+
+ return wkc;
+}
+
+/** Blocking send and receive frame function. Used for non processdata frames.
+ * A datagram is build into a frame and transmitted via this function. It waits
+ * for an answer and returns the workcounter. The function retries if time is
+ * left and the result is WKC=0 or no frame received.
+ *
+ * The function calls ec_outframe_red() and ec_waitinframe_red().
+ *
+ * @param[in] port = port context struct
+ * @param[in] idx = index of frame
+ * @param[in] timeout = timeout in us
+ * @return Workcounter or EC_NOFRAME
+ */
+int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
+{
+ int wkc = EC_NOFRAME;
+ osal_timert timer1, timer2;
+
+ osal_timer_start (&timer1, timeout);
+ do {
+ /* tx frame on primary and if in redundant mode a dummy on secondary */
+ ecx_outframe_red(port, idx);
+ if (timeout < EC_TIMEOUTRET) {
+ osal_timer_start (&timer2, timeout);
+ } else {
+ /* normally use partial timeout for rx */
+ osal_timer_start (&timer2, EC_TIMEOUTRET);
+ }
+ /* get frame from primary or if in redundant mode possibly
+ from secondary */
+ wkc = ecx_waitinframe_red(port, idx, &timer2);
+ /* wait for answer with WKC>=0 or otherwise retry until timeout */
+ } while ((wkc <= EC_NOFRAME) && !osal_timer_is_expired (&timer1));
+
+
+ return wkc;
+}
+
+
+#ifdef EC_VER1
+int ec_setupnic(const char *ifname, int secondary)
+{
+ return ecx_setupnic(&ecx_port, ifname, secondary);
+}
+
+int ec_closenic(void)
+{
+ return ecx_closenic(&ecx_port);
+}
+
+int ec_getindex(void)
+{
+ return ecx_getindex(&ecx_port);
+}
+
+void ec_setbufstat(int idx, int bufstat)
+{
+ ecx_setbufstat(&ecx_port, idx, bufstat);
+}
+
+int ec_outframe(int idx, int stacknumber)
+{
+ return ecx_outframe(&ecx_port, idx, stacknumber);
+}
+
+int ec_outframe_red(int idx)
+{
+ return ecx_outframe_red(&ecx_port, idx);
+}
+
+int ec_inframe(int idx, int stacknumber)
+{
+ return ecx_inframe(&ecx_port, idx, stacknumber);
+}
+
+int ec_waitinframe(int idx, int timeout)
+{
+ return ecx_waitinframe(&ecx_port, idx, timeout);
+}
+
+int ec_srconfirm(int idx, int timeout)
+{
+ return ecx_srconfirm(&ecx_port, idx, timeout);
+}
+#endif
projects / 0xmirror / SOEM.git / commitdiff